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boards: add auterion v6x target

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This commit is contained in:
Alexander Lerach
2025-10-14 19:14:41 +02:00
parent 7706aae67d
commit e8fbc30cf6
57 changed files with 4058 additions and 112 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v6x/default.px4board
-2
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@@ -21,7 +21,6 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPIO_MCP23009=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
@@ -39,7 +38,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
CONFIG_DRIVERS_PWM_INPUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y
boards/px4/fmu-v6x/init/rc.board_defaults
+8 -30
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@@ -9,35 +9,13 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 0
if ver hwbasecmp 009 010 011
then
# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
param set-default UXRCE_DDS_PTCFG 2
param set-default UXRCE_DDS_AG_IP 170461697
param set-default UXRCE_DDS_CFG 1000
# The buzzer draws too much power (0.2A) on the GPS power rail (limit 0.45A).
param set-default CBRK_BUZZER 782097
else
# Mavlink ethernet (CFG 1000)
param set-default MAV_2_CONFIG 1000
param set-default MAV_2_BROADCAST 1
param set-default MAV_2_MODE 0
param set-default MAV_2_RADIO_CTL 0
param set-default MAV_2_RATE 100000
param set-default MAV_2_REMOTE_PRT 14550
param set-default MAV_2_UDP_PRT 14550
fi
# Mavlink ethernet (CFG 1000)
param set-default MAV_2_CONFIG 1000
param set-default MAV_2_BROADCAST 1
param set-default MAV_2_MODE 0
param set-default MAV_2_RADIO_CTL 0
param set-default MAV_2_RATE 100000
param set-default MAV_2_REMOTE_PRT 14550
param set-default MAV_2_UDP_PRT 14550
safety_button start
# GPIO Expander driver on external I2C3
if ver hwbasecmp 009
then
# No USB
mcp23009 start -b 3 -X -D 0xf0 -O 0xf0 -P 0x0f -U 10
fi
if ver hwbasecmp 00a 008
then
mcp23009 start -b 3 -X -D 0xf1 -O 0xf0 -P 0x0f -U 10
fi
boards/px4/fmu-v6x/init/rc.board_mavlink
-13
View File
@@ -1,13 +0,0 @@
#!/bin/sh
#
# PX4 FMUv6X specific board MAVLink startup script.
#------------------------------------------------------------------------------
# if skynode base board is detected start Mavlink on Telem2
if ver hwbasecmp 009 010 011
then
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
# Ensure nothing else starts on TEL2 (ttyS4)
set PRT_TEL2_ 1
fi
boards/px4/fmu-v6x/init/rc.board_sensors
+15 -40
View File
@@ -55,22 +55,13 @@ then
set INA_CONFIGURED yes
fi
#Start Auterion Power Module selector for Skynode boards
if ver hwbasecmp 009 010 011
if [ $INA_CONFIGURED = no ]
then
pm_selector_auterion start
# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
param set-default INA238_SHUNT 0.0003
else
if [ $INA_CONFIGURED = no ]
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
if [ $HAVE_PM2 = yes ]
then
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
if [ $HAVE_PM2 = yes ]
then
i2c_launcher start -b 2
fi
i2c_launcher start -b 2
fi
fi
@@ -96,33 +87,22 @@ else
icm20649 -s -R 6 start
else
# Internal SPI BMI088
if ver hwbasecmp 009 010 011
if ver hwtypecmp V6X010
then
bmi088 -A -R 6 -s start
bmi088 -G -R 6 -s start
bmi088 -A -R 0 -s start
bmi088 -G -R 0 -s start
else
if ver hwtypecmp V6X010
then
bmi088 -A -R 0 -s start
bmi088 -G -R 0 -s start
else
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
fi
bmi088 -A -R 4 -s start
bmi088 -G -R 4 -s start
fi
fi
# Internal SPI bus ICM42688p
if ver hwbasecmp 009 010 011
if ver hwtypecmp V6X010
then
icm42688p -R 12 -s start
icm42688p -R 14 -s start
else
if ver hwtypecmp V6X010
then
icm42688p -R 14 -s start
else
icm42688p -R 6 -s start
fi
icm42688p -R 6 -s start
fi
if ver hwtypecmp V6X003 V6X004
@@ -130,13 +110,8 @@ else
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
else
if ver hwbasecmp 009 010 011
then
icm20602 -R 6 -s start
else
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 14 -s start
fi
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 14 -s start
fi
fi
boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
-1
View File
@@ -91,7 +91,6 @@ CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_TCBINFO=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_GPIO=y
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_DEV_URANDOM=y
boards/px4/fmu-v6x/src/CMakeLists.txt
-1
View File
@@ -71,6 +71,5 @@ else()
nuttx_arch # sdio
nuttx_drivers # sdio
px4_layer
platform_gpio_mcp23009
)
endif()
boards/px4/fmu-v6x/src/board_config.h
-5
View File
@@ -270,11 +270,6 @@
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* MCP23009 GPIO expander */
#define BOARD_GPIO_VDD_5V_COMP_VALID "/dev/gpio4"
#define BOARD_GPIO_VDD_5V_CAN1_GPS1_VALID "/dev/gpio5"
/* Spare GPIO */
#define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
boards/px4/fmu-v6x/src/init.cpp
-8
View File
@@ -74,7 +74,6 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_determine_hw_info.h>
#include <px4_platform/board_dma_alloc.h>
#include <px4_platform/gpio/mcp23009.hpp>
/****************************************************************************
* Pre-Processor Definitions
@@ -286,13 +285,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
# endif /* CONFIG_MMCSD */
ret = mcp23009_register_gpios(3, 0x25);
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif /* !defined(BOOTLOADER) */
return OK;
boards/px4/fmu-v6xrt/default.px4board
-1
View File
@@ -40,7 +40,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_COMMON_RC=y
boards/px4/fmu-v6xrt/init/rc.board_sensors
+5 -11
View File
@@ -69,19 +69,13 @@ then
set INA_CONFIGURED yes
fi
#Start Auterion Power Module selector for Skynode boards
if ver hwbasecmp 009 010
if [ $INA_CONFIGURED = no ]
then
pm_selector_auterion start
else
if [ $INA_CONFIGURED = no ]
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
if [ $HAVE_PM2 = yes ]
then
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
if [ $HAVE_PM2 = yes ]
then
i2c_launcher start -b 2
fi
i2c_launcher start -b 2
fi
fi